Differential-algebraic equations for describing the motion of a plane-parallel robot-manipulator are investigated. The dynamic model is constructed using the Lagrange equation and the substructure method. The design of a control system regulator using the sliding mode method is considered. The control accuracy is tested on a model of a 3-RRR plane-parallel robot . It consists of three kinematic chains, each of which has two links with three rotational joints. To study the efficiency of the controller, a circular trajectory is used as the target motion for the multibody system. The considered control system for a plane-parallel robot is capable of solving problems of movement and ensuring high positioning accuracy.

Keywords: control, plane-parallel robot, kinematic characteristics, dynamic model, differential-algebraic equations, constraint equation, controller, sliding mode, Lyapunov function, program trajectory